Tire self-cleaning method and vehicle

Abstract

The invention relates to a tire self-cleaning method and a vehicle, and the method comprises the steps: detecting the current vehicle speed and the tire state of the vehicle, and entering a phase locking pulse mode when the current vehicle speed is greater than a first vehicle speed threshold value and the tire state is to be cleaned; in the phase locking pulse mode, according to the wheel speed of the vehicle, the target frequency is determined, so that the frequency of the applied torque pulse can be influenced by the change of the wheel speed of the vehicle; the vehicle also obtains a real-time rotation angle of the tire; according to the real-time rotation angle, it is determined that the first torque pulse is applied when the tire rotates to the preset phase every time, torque waveform and phase locking is achieved, and the problem that the tire cannot be self-cleaned in the driving process is solved.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle technology, and more specifically, to a tire self-cleaning method and a vehicle. Background Technology

[0002] During vehicle operation, especially on low-traction road conditions such as mud, snow, and loose gravel, tire tread grooves are easily clogged with mud, slush, and other foreign objects, leading to a series of safety issues such as drive wheel slippage, increased braking distance, and decreased steering control. Therefore, controlling tire self-cleaning is an urgent problem to be solved. Summary of the Invention

[0003] The purpose of this disclosure is to provide a tire self-cleaning method and vehicle, which applies a torque pulse when the tire rotates to a preset phase, so that the tire tread is subjected to a targeted torque pulse during each roll, thereby shaking off and throwing out foreign objects such as mud, snow and sand embedded in the tread, achieving a self-cleaning effect.

[0004] To achieve the above objectives, the first aspect of this disclosure provides a tire self-cleaning method, comprising:

[0005] Detect the vehicle's current speed and tire condition; When the current vehicle speed is greater than the first vehicle speed threshold and the tire condition is to be cleaned, the vehicle enters the phase-locked pulse mode. In the phase-locked pulse mode: A target frequency is determined based on the wheel speed of the vehicle, wherein the target frequency is used to represent the number of first torque pulses applied per revolution of the vehicle's tires; Obtain the real-time rotation angle of the tire; When the real-time rotation angle reaches a preset phase, a first torque pulse is applied to the tire to clean the tire.

[0006] Optionally, the preset phase is determined based on the rotation angle of the tread blocks as the tire rotates, from contacting the road surface to leaving the road surface.

[0007] Optionally, the target frequency is proportional to the wheel speed of the vehicle, and determining the target frequency based on the wheel speed of the vehicle includes: The ratio of the wheel speed to the proportional coefficient is determined as the target frequency, and the proportional coefficient is determined based on the wheel speed and / or the pitch between two adjacent tread blocks of the tire.

[0008] Optionally, the method further includes: By using tire slippage information from historical moments, the peak coefficient of adhesion between the tire and the current road surface is determined. The peak coefficient of adhesion represents the maximum static friction coefficient that the tire and the road surface can provide. Based on the inertial acceleration data collected by the inertial measurement unit, the wheel load is determined, whereby the wheel load represents the vertical support force exerted by the road surface on the tire. The product of the peak adhesion coefficient, the wheel load, and the tire rolling radius is determined as the critical torque at which the tire reaches its adhesion limit. The pulse amplitude of the first torque pulse is set to be greater than the critical torque.

[0009] Optionally, before entering the phase-locked pulse mode, the method includes: Generate and push a tire cleaning start notification message; Obtain a feedback message for the tire cleaning start prompt message, the feedback message including an enable status for activating the phase lock pulse mode; If the allowed state is "allow to start", then the phase-locked pulse mode is started.

[0010] Optionally, the real-time rotation angle is the angle the tire has rotated from the zero point of its self-rotation phase reference, and obtaining the real-time rotation angle of the tire includes: Acquire the wheel speed pulse signal collected by the wheel speed sensor of the vehicle; Based on the rotational phase reference zero point of the tire, the wheel speed pulse signal is integrated to obtain the real-time rotation angle of the tire.

[0011] Optionally, the method further includes: In response to a manual triggering operation of the stationary cleaning mode, or upon detecting that the vehicle's tires are continuously spinning and the current vehicle speed is zero, the stationary cleaning mode is entered. In the static cleaning mode: A second torque pulse in the forward and reverse directions is alternately applied to the tire to control the target angle of the tire swing, wherein when the second torque pulse in the forward direction is applied to the left tire, the second torque pulse in the reverse direction is applied to the right tire.

[0012] Optionally, the method further includes: In response to a manual triggering of the low-speed rolling cleaning mode, or when the current vehicle speed is detected to be less than the second vehicle speed threshold and the tire adhesion is reduced, the low-speed rolling cleaning mode is entered. In the low-speed rolling cleaning mode: An oscillating torque waveform of a preset frequency is superimposed on the original driving torque waveform of the tire, so that the tire is subjected to a superimposed third torque pulse. The frequency of the oscillating torque waveform is greater than that of the original driving torque waveform, and the phases of the oscillating torque waveforms applied to the two tires are opposite. The frequency of the oscillating torque waveform is obtained based on the ratio of the vehicle's current speed to the length of the tire's contact patch on the road surface, and is used to indicate the number of times the third torque pulse is triggered for each unit of time the vehicle travels.

[0013] Optionally, detecting the tire condition of a vehicle includes: calculating a tire contamination index based on at least one of slip event frequency, tire adhesion utilization rate, environmental identification signals, and wheel vibration signals; When the tire pollution index is greater than or equal to the first pollution threshold, the tire is determined to be in a condition that requires cleaning. When the tire pollution index is less than or equal to the second pollution threshold, the cleaning mode is exited, wherein the cleaning mode includes the phase-locked pulse mode.

[0014] A second aspect of this disclosure provides a vehicle for performing the tire self-cleaning method provided in the first aspect and another possible implementation thereof.

[0015] A third aspect of this disclosure provides a computer-readable storage medium having a computer program stored thereon, which, when executed, implements the tire self-cleaning method provided in the first aspect and another possible implementation thereof.

[0016] A fourth aspect of this disclosure provides a tire self-cleaning device, comprising: The detection module is used to detect the vehicle's current speed and tire condition. The cleaning module is used to enter a phase-locked pulse mode when the current vehicle speed is greater than a first vehicle speed threshold and the tire condition is to be cleaned. In the phase-locked pulse mode: A target frequency is determined based on the wheel speed of the vehicle, wherein the target frequency is used to represent the number of first torque pulses applied per revolution of the vehicle's tires; Obtain the real-time rotation angle of the tire; When the real-time rotation angle reaches a preset phase, a first torque pulse is applied to the tire to clean the tire.

[0017] The above technical solution detects the vehicle's current speed and tire condition. When the current speed exceeds a first speed threshold and the tires are in a condition requiring cleaning, the system enters a phase-locked pulse mode. In this mode: a target frequency is determined based on the vehicle's wheel speed, ensuring that the frequency of applied torque pulses is influenced by changes in wheel speed; the vehicle also acquires the real-time rotation angle of the tires; this real-time rotation angle determines when a first torque pulse is applied each time the tire reaches a preset phase. In other words, the torque waveform is phase-locked, meaning that regardless of whether the vehicle speed increases or decreases, the tire tread will receive a torque pulse when rolling to a specific phase, making the application of torque pulses targeted and improving the tire's self-cleaning effect.

[0018] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0019] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a flowchart illustrating a tire self-cleaning method according to an exemplary embodiment.

[0020] Figure 2 This is a flowchart illustrating a tire condition detection method according to an exemplary embodiment.

[0021] Figure 3 This is a schematic diagram illustrating a set of tire self-cleaning mechanisms according to an exemplary embodiment.

[0022] Figure 4 This is a flowchart illustrating a torque pulse calculation method according to an exemplary embodiment.

[0023] Figure 5 This is a flowchart illustrating another tire self-cleaning method according to an exemplary embodiment.

[0024] Figure 6 This is a flowchart illustrating yet another tire self-cleaning method according to an exemplary embodiment.

[0025] Figure 7 The pulse waveform in the static cleaning mode provided in the embodiments of this disclosure is shown.

[0026] Figure 8 The slip ratio response in a static cleaning mode provided by an embodiment of this disclosure is shown.

[0027] Figure 9 The pulse waveform in the low-speed rolling cleaning mode provided in the embodiments of this disclosure is shown.

[0028] Figure 10 The slip ratio response in a low-speed rolling cleaning mode provided by an embodiment of this disclosure is shown.

[0029] Figure 11 The pulse waveform in the phase-locked pulse mode provided in the embodiments of this disclosure is shown.

[0030] Figure 12 The slip rate response in phase-locked pulse mode provided by an embodiment of this disclosure is shown.

[0031] Figure 13 The pulse waveform in the straight self-cleaning mode provided in the embodiments of this disclosure is shown.

[0032] Figure 14 This is a schematic diagram of yaw in the straight-line self-cleaning mode provided in an embodiment of this disclosure.

[0033] Figure 15 This is a block diagram illustrating a tire self-cleaning device according to an exemplary embodiment.

[0034] Figure 16 This is a block diagram of a vehicle according to an exemplary embodiment. Detailed Implementation

[0035] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0036] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0037] It should be understood that the steps described in the method embodiments of this disclosure may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of this disclosure is not limited in this respect.

[0038] The term "comprising" and its variations as used herein are open-ended inclusions, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Definitions of other terms will be given in the description below.

[0039] It should be noted that the concepts of "first" and "second" mentioned in this disclosure are used only to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependencies.

[0040] As mentioned in the background section, tire tread grooves (or tread blocks) are easily clogged by foreign objects, causing safety issues. Currently, the following solutions exist for tire cleaning: For example, the patent with publication number US20160332491A1 proposes to optimize the stone ejection effect by setting an independent circular stone ejector at the bottom of the tread grooves. This ejector uses a structure that is continuously tapering from the base to the peak and is completely circular. However, this patent only has a good stone ejection effect. When mud, snow, sand, or other debris gets stuck in the tread grooves, the tire's self-cleaning effect is poor.

[0041] For example, the patent with publication number US20210253069A1 uses braking of the rear wheels and driving the front wheels to spin freely to heat the tires and remove debris during off-road hill climbing, thereby enhancing front wheel traction. This patent is designed for hill climbing scenarios and cannot be applied to vehicles driving on normal roads or even at high speeds.

[0042] For example, the patent with publication number US20250256586A1 uses a single-pedal mode to control the motor to quickly switch torque direction, enabling electric vehicles to escape from low-traction environments such as mud and snow through high-frequency back-and-forth swaying. This patent causes the tires to spin and slip uncontrollably for extended periods, so it is not suitable for cleaning tires while the vehicle is in motion.

[0043] In view of this, the present disclosure provides a tire self-cleaning method and vehicle. During vehicle operation, a torque pulse is applied every time the tire rotates to a preset phase, so that regardless of whether the vehicle speed increases or decreases, the tire tread is subjected to a targeted torque pulse during each roll, thereby shaking off and throwing out foreign objects such as mud and snow embedded in the tread, achieving a self-cleaning effect.

[0044] This disclosure provides a tire self-cleaning method that can include implementation schemes under various vehicle driving states (or speeds), which are described below.

[0045] A plan for periodically cleaning tire treads during medium-to-high speed driving or normal driving: Medium-high speed driving is one type of vehicle driving state. For example, a vehicle can be determined to be in a medium-high speed driving state by measuring its current speed to a certain value; or by measuring the speed limit of the road surface the vehicle is currently traveling on. In some embodiments, if the vehicle's speed is within the range of [10, 80] km / h, then the vehicle is either in a medium-high speed driving state or driving normally.

[0046] like Figure 1 As shown, the scheme includes steps S11 to S15.

[0047] S11. Detect the vehicle's current speed and tire condition.

[0048] A vehicle can have multiple tires. The tire status of a vehicle can refer to the tire status of each tire of the vehicle, the tire status of the drive wheels of the vehicle, or the tire status of a specific drive wheel of the vehicle.

[0049] In some embodiments, the detection step occurs while the vehicle is in motion, such as in response to detecting that the current vehicle speed is greater than 0, the vehicle detects the current vehicle speed and tire condition.

[0050] Here, tire condition refers to the cleanliness of the tires, such as a condition requiring cleaning or a clean condition. In some embodiments, the tire condition is determined by capturing tire images and identifying foreign objects from the images. For example, when a foreign object is detected, or when the proportion of a foreign object in the tire tread reaches a preset value, the vehicle detects that the tire condition requires cleaning. In other embodiments, the tire condition is determined based on tire slip parameters. For example, if the tire slip ratio is higher than a preset value, the vehicle detects that the tire condition requires cleaning.

[0051] In some of the feasible embodiments, such as Figure 2 As shown, the tire condition of the vehicle is detected from S111 to S113.

[0052] S111. Calculate tire pollution index based on at least one of slip event frequency, tire adhesion utilization rate, environmental identification signal and wheel vibration signal.

[0053] The slip event frequency can be the number of slip events reported by the vehicle per unit time, or the percentage of the cumulative duration of slippage. A higher slip event frequency indicates a more significant decrease in the effective adhesion between the tire and the road surface, a higher likelihood and severity of tire contamination, and therefore a greater increase in the contamination index K value. For example, slip events can be obtained from the vehicle's anti-lock braking system (ABS) or traction control system (TCS).

[0054] Tire adhesion utilization rate refers to the ratio of the actual longitudinal or lateral force transmitted by the tire under current driving conditions to its theoretical maximum adhesion force. When the tire surface is contaminated, its maximum adhesion force decreases, causing the adhesion utilization rate to rise abnormally under the same driving operation, approaching or reaching saturation. In this embodiment, this parameter can be used as a measure of the degree of contamination.

[0055] Environmental recognition signals originate from the vehicle's environmental perception system (such as cameras, radar, windshield wiper status, or weather data) and the driver's selected driving mode (such as mud, snow, off-road, etc.). These signals can be used to identify whether the current driving environment is conducive to tire contamination, such as traversing muddy, snowy, or gravel roads, or being in rainy or snowy weather. When the vehicle is detected to be in an environment that will contaminate the tire treads, the contamination index K is set to a higher value.

[0056] Wheel vibration signals can be acquired using accelerometers mounted on the suspension or wheel hub. When there is foreign matter attached to the tire tread, it causes uneven tire mass distribution, resulting in abnormal vibrations during tire rotation. The vehicle's internal processor or an external server can analyze vibration characteristics related to tire contamination indicators in the vibration signals. In this embodiment, when such vibration characteristics are detected, it is determined that foreign matter is attached, thus increasing the contamination indicator K value.

[0057] Considering that foreign matter on tires may accumulate slowly, in some embodiments, even if the above real-time parameters do not change drastically, as long as the vehicle continues to drive on low-traction surfaces, the pollution index K value will slowly increase linearly with driving time or mileage until the accumulated part is reset after a cleaning cycle is performed.

[0058] The tire pollution index in this embodiment can be obtained by comparing the monitoring values ​​of one or more of the above signals with their respective baseline values ​​under clean tire conditions, and by performing fusion calculations based on a preset algorithm model (such as weighted fusion, machine learning model, etc.).

[0059] S112. When the tire pollution index is greater than or equal to the first pollution threshold, the tire condition is determined to be pending cleaning.

[0060] The first contamination threshold is a pre-calibrated value used to determine whether tire contamination has reached a level sufficient to affect driving safety or requires cleaning. When the tire is in a condition requiring cleaning, a cleaning mode can be triggered. In cleaning mode, the tire self-cleans, meaning that it can be cleaned by applying torque pulses without the need for external cleaning equipment.

[0061] S113. When the tire pollution index is less than or equal to the second pollution threshold, exit the cleaning mode. The cleaning mode includes the phase-locked pulse mode.

[0062] The second pollution threshold is less than the first pollution threshold.

[0063] In some embodiments, the driver can manually force the self-cleaning function to be turned on or off at any time via the in-vehicle interface. When manually turned on, the system immediately enters the corresponding mode and ignores the current K value; when manually turned off, all cleaning actions immediately terminate.

[0064] In some embodiments, if a sudden and significant increase in vehicle speed is detected during the self-cleaning process, exceeding the safety limit (e.g., speed greater than 120 km / h), the vehicle will be forcibly exited from the cleaning mode to prioritize high-speed driving safety.

[0065] The description of tire condition detection has been provided in sections S111 to S113 above. The vehicle's current speed can be obtained through wheel speed sensors, which will not be elaborated upon in this disclosure.

[0066] S12. When the current vehicle speed is greater than the first vehicle speed threshold and the tire condition is to be cleaned, enter the phase lock pulse mode.

[0067] The first vehicle speed threshold can be selected within the range of [10, 80] km / h, such as a first vehicle speed threshold of 20 km / h. When the current vehicle speed is greater than 20 km / h and the tires need cleaning, the phase-locked pulse mode is activated. In this mode, steps S13 to S15 are executed to apply periodic first torque pulses to the tires.

[0068] S13. In phase-locked pulse mode: Determine the target frequency based on the vehicle's wheel speed, where the target frequency represents the number of first torque pulses applied per revolution of the vehicle's tires.

[0069] Wheel speed can be obtained through the vehicle's wheel speed sensors. In some embodiments, the vehicle's wheel speed is acquired only after entering phase-locked pulse mode. In other embodiments, the vehicle's wheel speed can also be acquired in non-phase-locked pulse mode. This disclosure does not limit this.

[0070] In one embodiment, the target frequency is a pre-calibrated fixed value, such as applying one or two first torque pulses for every revolution of the tire. In another embodiment, the target frequency can be dynamically calculated based on the real-time wheel speed, meaning that changes in wheel speed will affect the value of the target frequency.

[0071] S14. Obtain the real-time rotation angle of the tire.

[0072] Real-time rotation angle can be monitored by the vehicle's angle sensor. The real-time rotation angle refers to the angle the tire has rotated relative to its calibration value at the current moment. The real-time rotation angle can be calculated in 360° increments; that is, the rotation angle is calculated from 0 for each complete wheel rotation.

[0073] S15. When the real-time rotation angle reaches the preset phase, apply the first torque pulse to the tire to clean the tire.

[0074] A preset phase refers to one or more pre-defined angular positions within the cycle of one tire rotation, which is the applied angle of the first torque pulse. The preset phase can be calibrated based on testing. For example, the angular positions when the angle sensor reading reaches 0°, 5°, 15°, 120°, and / or 240° can be used as preset phases. The preset phase can also be a range, such as 5° to 15°; or multiple ranges, such as 5° to 15° and 185° to 195°.

[0075] The vehicle compares the real-time rotation angle of the tire with a preset phase. When the real-time rotation angle reaches the preset phase, the vehicle's braking system applies a first torque pulse to the tire. The first torque pulse causes the tire to slip against the road surface. For example, when a forward first torque pulse is applied, the centrifugal force generated by the sudden acceleration of the tread blocks throws off any attached foreign objects, thus achieving tire self-cleaning during driving.

[0076] In this embodiment, the target frequency and amplitude of the first torque pulse can be set or adaptively adjusted according to the tire condition or wheel speed to improve the cleaning effect and reduce the impact on the driving experience.

[0077] The above technical solution detects the vehicle's current speed and tire condition. When the current speed exceeds a first speed threshold and the tires are in a condition requiring cleaning, the system enters a phase-locked pulse mode. In this mode: a target frequency is determined based on the vehicle's wheel speed, ensuring that the frequency of applied torque pulses is affected by changes in wheel speed; the vehicle also acquires the real-time rotation angle of the tires; this real-time rotation angle determines when a first torque pulse is applied each time the tire reaches a preset phase. In other words, the torque waveform is phase-locked, ensuring that regardless of whether the vehicle speed increases or decreases, the tire tread receives a torque pulse when rolling to a specific phase, making the application of torque pulses targeted and improving the tire's self-cleaning effect.

[0078] In some embodiments, the preset phase is determined based on the rotation angle of the tread blocks as the tire rotates, from contacting the road surface to leaving the road surface. For example, if the initial angle of the tread blocks at the tire's contact point with the ground is set to 0° when the vehicle is stationary, and the tread blocks rotate 10° until they are no longer in contact with the ground when the tire rotates, then 10° can be used as the preset phase. Each time the tire rotates to the point where the tread block reaches an angle of 10°, the tire receives a torque pulse, causing foreign objects in the tread blocks to be expelled. This avoids applying a torque pulse when the tread blocks contact the road surface, providing a more effective opportunity to apply the torque pulse.

[0079] In this embodiment, a certain number of torque pulses can be applied each time the tire rotates, such as once or twice. Each application corresponds to a specific angular position of the tread (i.e., the instant the tread block just leaves the contact mark between the tire and the ground). This causes the tread block to generate centrifugal force due to sudden acceleration when it rolls off the ground, thus throwing the foreign object out. For example, in one embodiment, a torque pulse is applied when the tread block just rolls off the ground. After the tire has rotated half a revolution, another torque pulse is applied when the other side of the tread leaves the ground. In this way, a torque pulse is applied every 180° of tire rotation, making the target frequency of the torque pulses a multiple of the vehicle's angular velocity.

[0080] Phase-locked pulse mode can operate continuously while the vehicle is traveling at a certain speed without interfering with driving operations. Especially after driving on long distances of muddy roads, this mode can promptly remove accumulated mud and other foreign objects from the tire treads, preventing a prolonged decrease in tire traction.

[0081] The activation and deactivation of the phase-locked pulse mode can be automatically determined by the vehicle's controller based on tire condition or tire contamination indicators when the vehicle speed reaches a first speed threshold. If severe tire contamination is detected, the phase-locked pulse mode is automatically triggered. In some embodiments, before the vehicle automatically triggers the phase-locked pulse mode, the vehicle pushes a tire cleaning start prompt message via the user's mobile phone, in-vehicle display, or voice to prompt the user whether to allow the phase-locked mode to be activated. Figure 3 As shown, the text message 302 displayed on the vehicle display screen 301 is "Allow phase lock mode to be activated?". The vehicle receives a feedback message for this message, which includes user-instructed options such as allow activation, disallow activation, or a later prompt. If the feedback message indicates an allowed activation of the phase lock pulse mode, it means the user has allowed the vehicle to automatically activate the phase lock pulse mode, and the vehicle automatically triggers the phase lock pulse mode to perform the cleaning steps described above.

[0082] The phase-lock pulse mode can also be manually triggered by the user, such as through voice, buttons, or the display screen. (Continue to refer to...) Figure 3 The user clicks the target icon 303 on the vehicle display screen 301 to enter the tire self-cleaning settings menu 304. The user clicks the target option 305 in the settings menu 304 to enable the phase lock pulse mode.

[0083] After entering phase-locked pulse mode, this scheme applies a first torque pulse, the frequency and amplitude of which differ from other torque pulses. In some embodiments, the frequency of the first torque pulse is... Where f is the target frequency and ω is the wheel speed. This is a proportionality coefficient. The value of n can be determined based on wheel speed and / or the pitch between two adjacent tread blocks, thus affecting... The value of n varies. For example, the larger the pitch, the larger n is, and therefore the larger the proportionality coefficient; the faster the wheel speed, the larger n is, and therefore the larger the proportionality coefficient. In this embodiment, the controller calculates the required pulse cycle based on the tire tread pattern and wheel angular velocity, achieving adaptive frequency adjustment for different tire models and vehicle speeds. This ensures that regardless of vehicle speed, the number of cleaning pulses received by the tire per unit distance remains relatively constant, resulting in consistent cleaning effects across all tire areas. In some embodiments, the amplitude of the first torque pulse is obtained based on real-time estimation of the critical torque required to bring the tire to its adhesion limit. Figure 4 As shown, the method for calculating the first torque pulse includes S41 to S44.

[0084] S41. Determine the peak coefficient of adhesion between the tire and the current road surface by using tire slippage information from historical moments. The peak coefficient of adhesion represents the maximum static friction coefficient that the tire and the road surface can provide.

[0085] Taking tires as the drive wheels of a vehicle as an example, the vehicle's controller continuously monitors the wheel speed signals of each drive wheel and the actual vehicle speed. It then converts the wheel speed signals into wheel linear velocities. The controller calculates the ratio between the difference between the wheel linear velocity and the actual vehicle speed and the actual vehicle speed, obtaining the slip ratio. The slip ratio reflects the relative degree of slippage between the tire and the road surface. The vehicle can pre-store the mapping relationship between the slip ratio (slip) and the peak coefficient of adhesion (μ) for various road surface types, such as grass, wet surfaces, and mud. When the slip ratio is used as tire slippage information, the peak coefficient of adhesion (μ) of the current road surface is retrieved through the mapping relationship. The peak coefficient of adhesion determines the upper limit of the lateral force that the tire can transmit before slippage occurs. Furthermore, the frequency of slippage events can be used as tire slippage information.

[0086] S42. Based on the inertial acceleration data collected by the inertial measurement unit, determine the wheel load, which represents the vertical support force exerted by the road surface on the tire.

[0087] This step utilizes the vehicle's existing inertial measurement unit (IMU) to collect raw data, including the vehicle's longitudinal acceleration, lateral acceleration, and yaw rate. Combined with known vehicle mass, center of gravity location, and suspension data, wheel loads are predicted using dynamic equations. This method eliminates the need for additional hardware sensors, reducing costs.

[0088] S43. The product of the peak adhesion coefficient, wheel load, and tire rolling radius is determined as the critical torque that allows the tire to reach its adhesion limit.

[0089] The amplitude of the torque waveform directly relates to the degree of slippage and cleaning ability of the tire. This embodiment of the invention calculates the required torque amplitude Mp by estimating the peak adhesion coefficient μ in real time and setting a target slip ratio (slip). In this embodiment, the critical torque Mc = μ × Fz × R, where μ is the peak adhesion coefficient, Fz is the wheel load, and R is the tire rolling radius.

[0090] S44. Set the pulse amplitude of the first torque pulse to be greater than the critical torque.

[0091] The amplitude of the first torque pulse, Mp = k × Mc, is greater than 1, and the value of k can range from 1.05 to 1.3. For example, k can be greater than or equal to 1.1 and less than or equal to 1.2. The value of k can be adjusted appropriately according to the target slip ratio. In addition, Mp can be less than or equal to the maximum torque that the drive system can provide or the peak value allowed by the tire to prevent excessive torque from damaging the tire or the transmission system. In some embodiments, the torque pulse uses a smooth trapezoidal or sine wave instead of an ideal impact to limit the spectral components. Therefore, after calculating Mp, the rise / fall slope limit (e.g., limiting the pulse rise edge to no less than 50 milliseconds) is combined to generate a command curve. Through the above method, each torque pulse can generate near-peak friction between the tire and the road surface and slightly slip, thereby effectively tearing away mud and dirt without causing the tire to spin and slip uncontrollably for a long time.

[0092] S41 to S44 above set the pulse amplitude slightly higher than the real-time estimated critical torque to ensure that the impact of each pulse on the tire is controllable. This means that after the tire slips, it immediately regains its original grip due to the torque drop, preventing continuous tire spinning and reducing the risk of loss of vehicle speed that might be caused by tire self-cleaning. Furthermore, the pulse amplitude obtained by estimating the peak adhesion coefficient has different values ​​for different road surface types. For example, on ice with low grip, the pulse amplitude is reduced to prevent slippage; on muddy ground with high grip, the pulse amplitude is increased to improve cleaning power. Adjusting the pulse amplitude balances the cleaning effect and driving safety under various road conditions.

[0093] In some embodiments, the tire's angular velocity information can be acquired indirectly using the vehicle's existing wheel speed sensors instead of directly acquiring it through an angular velocity sensor. First, in this embodiment, the real-time rotation angle is defined as the angle the tire has rotated since the zero point of its rotational phase reference. Acquiring the tire's real-time rotation angle in S11 includes: acquiring the wheel speed pulse signal collected by the vehicle's wheel speed sensors; and integrating the wheel speed pulse signal based on the tire's rotational phase reference zero point to obtain the tire's real-time rotation angle. Since high-precision wheel speed and angle measurement are necessary to achieve torque pulse phase locking with the tire, this embodiment does not directly calculate the frequency of the number of pulses output by the ABS wheel speed sensor per revolution to obtain the wheel speed ω. Instead, it integrates the wheel speed pulses, sets a reference phase zero point when the vehicle starts driving (e.g., a downward-facing marker point when the vehicle starts), and then obtains the angle the tire has rotated based on the integrated wheel speed over time, thus obtaining accurate tire phase information. Although the ABS sensor itself does not provide a fixed zero point, its high-resolution pulses (tens to hundreds of teeth per revolution) can still achieve the purpose of finely subdividing the angle. If necessary, an additional phase calibration sensor, such as a Hall element, can be installed on the wheel hub to detect the valve position. This sensor sends a synchronization signal to the controller each time the tire rotates past the valve, correcting accumulated errors. Once the relationship between the tire's absolute angle and the ground is established, the controller can trigger torque pulses within a specific angular window to clean the tire.

[0094] The following describes a method for cleaning tire treads when the vehicle is stationary: If a vehicle is stuck in mud and cannot move forward, or if you need to clean the tires while the vehicle is stationary, you can use the stationary cleaning mode to clean the tires. Figure 5 As shown, the scheme includes S51 to S52.

[0095] S51. In response to a manual triggering operation of the stationary cleaning mode, or upon detecting that the vehicle's tires are continuously spinning and the current vehicle speed is zero, enter the stationary cleaning mode.

[0096] The manual triggering procedure can be found in the following reference. Figure 3 And related explanations, which will not be elaborated here.

[0097] S52. In stationary cleaning mode: Apply second torque pulses in the forward and reverse directions alternately to the tires to control the target angle of tire swing, wherein when the left tire is applied with a second torque pulse in the forward direction, the right tire is applied with a second torque pulse in the reverse direction.

[0098] Taking tires as the drive wheels as an example, in this scheme, the controller alternately applies pulses in the forward direction (positive torque) and the reverse direction (negative torque) to the drive wheels, causing each drive tire to oscillate back and forth at a small angle around its current position. The amplitude can be designed according to actual needs, such as controlling the oscillation angle on each side between 5° and 10°. The torque pulses applied to the left and right drive wheels are in opposite phases; that is, when the left tire is applied with a second torque pulse in the forward direction, the right tire is simultaneously applied with a second torque pulse in the reverse direction. This increases the shear force and improves the oscillation effect. At the same time, the slight swaying of the vehicle body drives the suspension to move, which helps to shake off loosened mud.

[0099] To prevent the vehicle from moving unexpectedly, the amplitude of the torque pulses in both directions and the duration of a single pulse can be designed according to actual needs to ensure that the tire swing angle is constrained within a safe range.

[0100] After each torque pulse is applied, the vehicle detects any displacement using wheel speed and vehicle speed signals. If an unexpected slight movement is detected, ESC is invoked to apply braking pulses to the corresponding wheels to stabilize the vehicle.

[0101] The stationary cleaning mode provides an effective means of actively extricating a vehicle from a stuck situation or performing maintenance cleaning while parked. This solution uses shearing force to break up foreign objects adhering to the tire tread while ensuring vehicle stability by controlling the limited oscillation of each drive wheel.

[0102] The following are methods for cleaning tire treads when driving at low speeds: When a vehicle is traveling slowly at a low speed (e.g., below 5 km / h to 10 km / h) on a muddy road, it can continuously clean the tire treads using a low-speed rolling cleaning mode. Figure 6 As shown, the scheme includes S61 to S62.

[0103] S61. In response to a manual triggering operation of the low-speed rolling cleaning mode, or upon detecting that the current vehicle speed is less than the second vehicle speed threshold and the tire adhesion decreases, the low-speed rolling cleaning mode is entered.

[0104] The manual triggering procedure can be found in the following reference. Figure 3 And related explanations, which will not be elaborated here.

[0105] S62. In low-speed rolling cleaning mode: A preset frequency oscillating torque waveform is superimposed on the original driving torque waveform of the tire, so that the tire is subjected to the superimposed third torque pulse. The frequency of the oscillating torque waveform is greater than that of the original driving torque waveform, and the phase of the oscillating torque waveform applied to the two tires is opposite.

[0106] The frequency of the oscillating torque waveform is set to a fixed value or range that is relatively high compared to the rotational frequency (e.g., between 5Hz and 20Hz) to ensure a sufficient number of cleaning cycles per unit time. Additionally, this frequency can be slightly and dynamically adjusted according to vehicle speed to avoid resonance with the inherent frequency of the vehicle's drivetrain.

[0107] The amplitude of the oscillating torque is small to ensure that it does not affect the vehicle's average speed and driving smoothness. To counteract the yaw moment generated by the oscillating torque on the vehicle body, the oscillating torque waveforms applied to the left and right drive wheels are set to be out of phase (i.e., 180° out of phase) to maintain driving stability.

[0108] In the low-speed rolling cleaning mode, where the centrifugal cleaning effect is not significant, continuous high-frequency torque oscillations create a subtle and rapid relative slip between the tire tread and the ground. This cleans the tire tread in time to maintain traction when the vehicle slowly traverses muddy sections. In low-speed rolling cleaning mode, once the vehicle speed exceeds a first speed threshold, it can directly transition to phase-locked pulse mode.

[0109] In some embodiments, the frequency of the oscillating torque waveform can be adjusted based on a theoretical frequency, which is obtained by the ratio of the vehicle's current speed (v) to the length of the tire's contact patch (L) with the road surface, i.e., f = v / L. f represents the number of cleaning torque pulses that should be triggered when the vehicle travels a distance of one contact patch length L under ideal synchronization conditions. It should be noted that the frequency calculated at very low speeds may be too low, resulting in an insignificant cleaning effect. Therefore, the low-speed oscillation mode described above is used to supplement the cleaning effect during the low-speed phase.

[0110] To ensure that the tire self-cleaning function does not compromise vehicle stability and safety under various operating conditions, this embodiment details the multi-level, active safety protection control strategy employed during the execution of the cleaning torque pulse.

[0111] The strategy includes: the controller sets three levels of slip ratio safety thresholds: the first threshold S1 (e.g., 20% slip ratio) is the upper limit of normal traction control; the second threshold (e.g., 30% to 40% slip ratio) is slightly higher, corresponding to the optimal cleaning effect range near the peak of the adhesion coefficient; and the third threshold (e.g., 50% slip ratio) is the absolute safety upper limit to prevent excessive tire spin.

[0112] In cleaning mode, the system allows the drive wheel slip ratio to fluctuate within a range of a first threshold to a second threshold to generate an effective shear cleaning effect. The controller continuously monitors and filters the slip ratio. Level 1 intervention: If the instantaneous slip ratio of a drive wheel exceeds the second threshold, the controller will immediately reduce the amplitude of subsequent torque pulses for that wheel, or temporarily skip a pulse cycle to make the slip ratio drop rapidly.

[0113] Secondary intervention: If the slip ratio of the drive wheel continues to climb to near the third threshold, the system determines that it faces a risk of loss of traction. At this time, the controller can immediately pause the cleaning pulse for that wheel and apply braking torque to the drive wheel through the Electronic Stability Control (ESC) system to actively suppress its spinning and help the tire regain traction. The cleaning function remains suspended for that drive wheel until the slip ratio of the drive wheel returns to a safe range (such as below the first threshold).

[0114] To prevent abrupt changes in torque pulses from impacting the drive system (such as the motor and driveshaft), the rise and fall slopes of the torque command can be set. For example, the maximum permissible rate of torque change can be calibrated based on the drive system's moment of inertia, driveshaft stiffness, and damping characteristics. Before actual output, all calculated torque pulse commands pass through a slope limiter, ensuring that the rise and fall edges of the commands change with gentle slopes, thus transforming the theoretical rectangular pulse into a controllable trapezoidal wave or smooth waveform. This effectively suppresses high-frequency components in the torque spectrum, avoiding potentially uncomfortable high-frequency vibrations and ensuring the vehicle's performance in terms of noise, vibration, and acoustic roughness.

[0115] In some embodiments, when switching between different cleaning modes, the change in pulse frequency also follows a gradual principle to smoothly transition the vehicle's power output.

[0116] In some embodiments, maintaining vehicle stability is given higher priority. Vehicle attitude signals such as yaw rate and lateral acceleration are monitored in real time. Under normal circumstances, the out-of-phase torque design of the left and right wheels allows yaw moments to cancel each other out. If unexpected attitude disturbances occur due to differences in road surface adhesion on the left and right sides (such as yaw rate deviation exceeding a set threshold), ESC will activate intervention strategies. Intervention strategies include, but are not limited to: applying braking force to the wheel on the side of excessive slip, temporarily modulating the amplitude difference of the cleaning pulses on the left and right sides to generate restoring torque, or intelligently suspending the issuance of cleaning pulses when the driver performs steering operations to ensure that steering control force takes priority. During the design phase, the priority of stability control commands can be set higher than that of cleaning control commands to maintain vehicle stability.

[0117] In some embodiments, when the brake pedal is detected to be depressed and the ABS is engaged, the output of all cleaning torque pulses will be paused. The drive system will switch to zero torque or drag mode to ensure that the ABS has complete and uninterrupted control over the wheel braking pressure for optimal braking performance. After the braking process ends, the current vehicle speed and tire condition can be reassessed to determine whether to resume the self-cleaning function.

[0118] The above text introduced three solutions and their corresponding cleaning modes. Below, we will discuss... Figures 7 to 12The pulse waveforms and slip ratios under the three cleaning modes are described.

[0119] Figure 7 The diagram shows a pulse waveform in a static cleaning mode provided by an embodiment of this disclosure. The horizontal axis represents time, and the vertical axis Torque represents torque.

[0120] FL indicates the left front wheel, and FR indicates the left and right wheels. In this mode, FL and FR are applied with opposite trapezoidal pulses (i.e., the second torque pulse), with an amplitude of approximately 300 N·m. This indicates that the applied torque is 300 N·m.

[0121] Figure 8 The slip ratio response in a static cleaning mode provided by an embodiment of this disclosure is illustrated. For example... Figure 8 As shown, the slip ratio response was controlled within 0.5, indicating that the tire self-cleaning when stationary will not cause the tire to slip for a long time.

[0122] Figure 9 The pulse waveform in the low-speed rolling cleaning mode provided in the embodiments of this disclosure is shown. Similarly, the horizontal axis represents time, and the vertical axis Torque represents torque.

[0123] In this mode, the vehicle travels at a constant speed of V=5km / h. FL and FR are applied with opposing torque pulses. Compared to... Figure 7 The trapezoidal pulse shown Figure 9 The pulse shown (i.e. the third torque pulse) has a higher amplitude and a faster frequency, indicating that in order to improve the cleaning effect at low speeds, a sine wave pulse is superimposed on the actual pulse of the wheel in the low-speed rolling cleaning mode.

[0124] Figure 10 The slip ratio response in a low-speed rolling cleaning mode provided by an embodiment of this disclosure is illustrated. For example... Figure 10 As shown, the slip ratio response is lower than that in the stationary cleaning mode, in order to ensure vehicle driving stability.

[0125] Figure 11 The diagram illustrates the pulse waveform in the phase-locked pulse mode provided in this embodiment. The horizontal axis represents time, and the vertical axis represents torque. Since the vehicle travels at a constant speed greater than 5 km / h, the horizontal axis can also represent wheel speed. In the legend, RL represents the right front wheel, and RR represents the right rear wheel. The diagram shows the waveforms of the right front wheel and the left front wheel; the waveforms of the right rear wheel and both wheels are similar. Figure 11 As shown, in this mode, the left and right wheels are out of phase, while the front and rear wheels are in phase.

[0126] In this mode, the controller applies a pulse to the wheel each time it reaches the preset phase, ensuring a good cleaning effect at different vehicle speeds through phase locking.

[0127] Figure 12 The slip rate response in phase-locked pulse mode provided by an embodiment of this disclosure is illustrated. For example... Figure 12 As shown, the phase-locked pulse mode has the lowest slip rate among the three modes, thus ensuring vehicle stability at medium and high speeds and preventing tire self-cleaning from interfering with driving.

[0128] The following describes a self-cleaning strategy for straight-line driving on highways. Figure 13 The pulse waveform in the straight-line self-cleaning mode provided in the embodiments of this disclosure is shown. For example... Figure 13 As shown, the vehicle speed under high-speed driving is even faster than the high-speed driving mentioned above, such as reaching 80km / h. In this mode, the frequency and amplitude are lower, and two waveforms with higher amplitude plus one with lower amplitude can be used for cleaning.

[0129] Figure 14 This is a schematic diagram of yaw in the straight-line self-cleaning mode provided in an embodiment of this disclosure. Figure 14 In this diagram, axletorque represents axle torque, Front axle represents the front axle, Rear axle represents the rear axle, and Front+Rear represents both front and rear axles. The fact that the axle torques of the front and rear axles are represented by a horizontal line indicates that this mode maintains a certain level of cleaning power while preventing vehicle yaw.

[0130] Based on the same concept, this disclosure also provides a tire self-cleaning device, such as... Figure 15 As shown, it includes: The detection module 1501 is used to detect the vehicle's current speed and tire condition; The cleaning module 1502 is used to enter the phase-locked pulse mode when the current vehicle speed is greater than the first vehicle speed threshold and the tire condition is to be cleaned. In phase-locked pulse mode: The target frequency is determined based on the vehicle's wheel speed, where the target frequency represents the number of first torque pulses applied per revolution of the vehicle's tires. Obtain the real-time rotation angle of the tire; When the real-time rotation angle reaches the preset phase, a first torque pulse is applied to the tire to clean it.

[0131] In some embodiments, the cleaning module 1502 is further configured to enter the stationary cleaning mode in response to a manual triggering operation of the stationary cleaning mode, or upon detecting that the vehicle's tires are continuously spinning and the current vehicle speed is zero; in the stationary cleaning mode: second torque pulses in the forward and reverse directions are alternately applied to the tires to control the tire swing target angle, wherein when the left tire is applied with a second torque pulse in the forward direction, the right tire is applied with a second torque pulse in the reverse direction.

[0132] In some embodiments, the cleaning module 1502 is further configured to enter the low-speed rolling cleaning mode in response to a manual triggering operation of the low-speed rolling cleaning mode, or upon detecting that the current vehicle speed is less than a second vehicle speed threshold and the tire adhesion decreases; in the low-speed rolling cleaning mode: an oscillating torque waveform of a preset frequency is superimposed on the original driving torque waveform of the tire, so that the tire is subjected to the superimposed third torque pulse, the frequency of the oscillating torque waveform is greater than that of the original driving torque waveform, and the phases of the oscillating torque waveforms applied to the two tires are opposite.

[0133] Figure 16 This is a block diagram illustrating a vehicle according to an exemplary embodiment. (e.g.) Figure 16 As shown, the vehicle 160 includes a drive system 1601, a body 1602, a sensor module 1603, a communication module 1604, a processor 1605, a memory 1606, and a chassis 1607.

[0134] The drive system 1601 is used to apply torque pulses to the tires to enable tire self-cleaning.

[0135] The sensor module 1603 is used to acquire data such as the vehicle's current speed and tire condition.

[0136] The communication module 1604 is responsible for data transmission between the vehicle and external networks (such as servers).

[0137] The processor 1605 and the memory 1606 are communicatively connected. The memory 1606 stores computer programs that can be executed by the processor 1605, such as a calibration program for fusing multi-source data, calibration thresholds, peak adhesion coefficients, and a mapping table of slip ratios. In this embodiment, the memory 1606 may be a solid-state memory (e.g., flash memory) or random access memory (RAM) for storing programs and intermediate calculation results.

[0138] Processor 1605 is the core component of the vehicle controller, responsible for processing and executing various instructions, as well as calculating and controlling data. When processor 1605 executes a computer program, it implements the vehicle control method provided in this disclosure embodiment. Processor 1605 can be a general-purpose processor, a dedicated digital signal processor (DSP), or other suitable processor. As an example, vehicle 160 includes a System-on-Chip (SoC) chip, which integrates processor 1605, memory 1606, peripheral interfaces, dedicated function modules, and software firmware, forming a microelectronic system with complete system functions.

[0139] The body 1602 and chassis 1607 are essential hardware structures for the vehicle, and will not be elaborated upon here.

[0140] Based on the same technical concept, embodiments of this disclosure also provide a computer-readable storage medium having a computer program stored thereon, which, when executed, implements the method shown in any embodiment of this disclosure.

[0141] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.

[0142] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0143] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A tire self-cleaning method, characterized in that, include: Detect the vehicle's current speed and tire condition; When the current vehicle speed is greater than the first vehicle speed threshold and the tire condition is to be cleaned, the vehicle enters the phase lock pulse mode. In the phase-locked pulse mode: A target frequency is determined based on the wheel speed of the vehicle, wherein the target frequency is used to represent the number of first torque pulses applied per revolution of the vehicle's tires; Obtain the real-time rotation angle of the tire; When the real-time rotation angle reaches a preset phase, a first torque pulse is applied to the tire to clean the tire.

2. The tire self-cleaning method according to claim 1, characterized in that, in, The preset phase is determined based on the rotation angle of the tread blocks as the tire rotates, from contacting the road surface to leaving the road surface.

3. The tire self-cleaning method according to claim 1, characterized in that, The target frequency is proportional to the wheel speed of the vehicle, and determining the target frequency based on the wheel speed of the vehicle includes: The ratio of the wheel speed to the proportional coefficient is determined as the target frequency, and the proportional coefficient is determined based on the wheel speed and / or the pitch between two adjacent tread blocks of the tire.

4. The tire self-cleaning method according to claim 1, characterized in that, The method further includes: By using tire slippage information from historical moments, the peak coefficient of adhesion between the tire and the current road surface is determined. The peak coefficient of adhesion represents the maximum static friction coefficient that the tire and the road surface can provide. Based on the inertial acceleration data collected by the inertial measurement unit, the wheel load is determined, whereby the wheel load represents the vertical support force exerted by the road surface on the tire. The product of the peak adhesion coefficient, the wheel load, and the tire rolling radius is determined as the critical torque at which the tire reaches its adhesion limit. The pulse amplitude of the first torque pulse is set to be greater than the critical torque.

5. The tire self-cleaning method according to claim 1, characterized in that, Before entering phase-locked pulse mode, the method includes: Generate and push a tire cleaning start notification message; Obtain a feedback message for the tire cleaning start prompt message, the feedback message including an enable status for activating the phase lock pulse mode; If the allowed state is "allow to start", then the phase-locked pulse mode is started.

6. The tire self-cleaning method according to claim 1, characterized in that, The real-time rotation angle is the angle the tire has rotated from the zero point of its self-rotation phase reference. Obtaining the real-time rotation angle of the tire includes: Acquire the wheel speed pulse signal collected by the wheel speed sensor of the vehicle; Based on the rotational phase reference zero point of the tire, the wheel speed pulse signal is integrated to obtain the real-time rotation angle of the tire.

7. The tire self-cleaning method according to claim 1, characterized in that, The method further includes: In response to a manual triggering operation of the stationary cleaning mode, or upon detecting that the vehicle's tires are continuously spinning and the current vehicle speed is zero, the stationary cleaning mode is entered. In the static cleaning mode: A second torque pulse in the forward and reverse directions is alternately applied to the tire to control the target angle of the tire swing, wherein when the second torque pulse in the forward direction is applied to the left tire, the second torque pulse in the reverse direction is applied to the right tire.

8. The tire self-cleaning method according to claim 1, characterized in that, The method further includes: In response to a manual triggering of the low-speed rolling cleaning mode, or when the current vehicle speed is detected to be less than the second vehicle speed threshold and the tire adhesion is reduced, the low-speed rolling cleaning mode is entered. In the low-speed rolling cleaning mode: An oscillating torque waveform of a preset frequency is superimposed on the original driving torque waveform of the tire, so that the tire is subjected to a superimposed third torque pulse. The frequency of the oscillating torque waveform is greater than that of the original driving torque waveform, and the phases of the oscillating torque waveforms applied to the two tires are opposite. The frequency of the oscillating torque waveform is obtained based on the ratio of the vehicle's current speed to the length of the tire's contact patch on the road surface, and is used to indicate the number of times the third torque pulse is triggered for each unit of time the vehicle travels.

9. The tire self-cleaning method according to claim 1, characterized in that, Checking the condition of the vehicle's tires includes: The tire pollution index is calculated based on at least one of the following: slip event frequency, tire adhesion utilization rate, environmental identification signal and wheel vibration signal. When the tire pollution index is greater than or equal to the first pollution threshold, the tire is determined to be in a condition that requires cleaning. When the tire pollution index is less than or equal to the second pollution threshold, the cleaning mode is exited, wherein the cleaning mode includes the phase-locked pulse mode.

10. A vehicle, characterized in that, Used to perform the tire self-cleaning method according to any one of claims 1-9.

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